|
Re: paper: FRC #33 The Killer Bees 2013 Software - BuzzXVIII (Buzz18)
Those graphs definitely show improvement over the years.
I've always liked to feed forward as much as possible for best transient performance. The P-I-FF design feeds forward the steady state output (FF), corrects for steady state errors with I, and handles transients with P (what the D term in a 'normal' position PID would do). FF can be implemented as a math model, curve fit, or lookup/interpolation table.
I agree that mechanical engineers tend to solve problems mechanically, as a controls engineer I disagree with this approach.
__________________
Kettering University - Computer Engineering
Kettering Motorsports
Williams International - Commercial Engines - Controls and Accessories
FRC 33 - The Killer Bees - 2009-2012 Student, 2013-2014 Advisor
VEX IQ 3333 - The Bumble Bees - 2014+ Mentor
"Sometimes, the elegant implementation is a function. Not a method. Not a class. Not a framework. Just a function." ~ John Carmack
|
Originality in Sponsorship can get you a lot of places. - MysterE [more] 
31-07-2013, 11:16
Threaded Mode